{"id":"https://openalex.org/W4404671356","doi":"https://doi.org/10.3390/sym16121575","title":"Finite-Time Control for Automatic Berthing of Pod-Driven Unmanned Surface Vessel with an Event-Triggering Mechanism","display_name":"Finite-Time Control for Automatic Berthing of Pod-Driven Unmanned Surface Vessel with an Event-Triggering Mechanism","publication_year":2024,"publication_date":"2024-11-25","ids":{"openalex":"https://openalex.org/W4404671356","doi":"https://doi.org/10.3390/sym16121575"},"language":"en","primary_location":{"id":"doi:10.3390/sym16121575","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16121575","pdf_url":null,"source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/sym16121575","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019377579","display_name":"Zaiji Piao","orcid":"https://orcid.org/0000-0002-3241-1926"},"institutions":[{"id":"https://openalex.org/I156292868","display_name":"Dalian University of Foreign Languages","ror":"https://ror.org/008a8z393","country_code":"CN","type":"education","lineage":["https://openalex.org/I156292868"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zaiji Piao","raw_affiliation_strings":["College of Software, Dalian University of Foreign Languages, Dalian 116044, China"],"affiliations":[{"raw_affiliation_string":"College of Software, Dalian University of Foreign Languages, Dalian 116044, China","institution_ids":["https://openalex.org/I156292868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110235424","display_name":"Shuang Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I156292868","display_name":"Dalian University of Foreign Languages","ror":"https://ror.org/008a8z393","country_code":"CN","type":"education","lineage":["https://openalex.org/I156292868"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuang Sun","raw_affiliation_strings":["College of Software, Dalian University of Foreign Languages, Dalian 116044, China"],"affiliations":[{"raw_affiliation_string":"College of Software, Dalian University of Foreign Languages, Dalian 116044, China","institution_ids":["https://openalex.org/I156292868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100738423","display_name":"Yi-Ling Chen","orcid":"https://orcid.org/0000-0003-1144-7353"},"institutions":[{"id":"https://openalex.org/I4210131997","display_name":"Dalian Neusoft University of Information","ror":"https://ror.org/0304ty515","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210131997"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiling Chen","raw_affiliation_strings":["College of Intelligence and Electronic Engineering, Dalian Neusoft University of Information, Dalian 116023, China"],"affiliations":[{"raw_affiliation_string":"College of Intelligence and Electronic Engineering, Dalian Neusoft University of Information, Dalian 116023, China","institution_ids":["https://openalex.org/I4210131997"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031635192","display_name":"Moran Ju","orcid":"https://orcid.org/0000-0002-3158-4956"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Moran Ju","raw_affiliation_strings":["College of Information Science and Technology, Dalian Maritime University, Dalian 116026, China"],"affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Dalian Maritime University, Dalian 116026, China","institution_ids":["https://openalex.org/I43313876"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019377579"],"corresponding_institution_ids":["https://openalex.org/I156292868"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":0.6457,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71214489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"16","issue":"12","first_page":"1575","last_page":"1575"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9889000058174133,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6380240321159363},{"id":"https://openalex.org/keywords/dynamic-positioning","display_name":"Dynamic positioning","score":0.6228073239326477},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5903551578521729},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5660937428474426},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5456683039665222},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5244067907333374},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4951860010623932},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.4532415270805359},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.4371466636657715},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4173962473869324},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3721212148666382},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3579113483428955},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.26965832710266113},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18927454948425293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13371583819389343},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12219414114952087},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1097862720489502}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6380240321159363},{"id":"https://openalex.org/C105331701","wikidata":"https://www.wikidata.org/wiki/Q1268965","display_name":"Dynamic positioning","level":2,"score":0.6228073239326477},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5903551578521729},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5660937428474426},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5456683039665222},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5244067907333374},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4951860010623932},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.4532415270805359},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.4371466636657715},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4173962473869324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3721212148666382},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3579113483428955},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.26965832710266113},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18927454948425293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13371583819389343},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12219414114952087},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1097862720489502},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/sym16121575","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16121575","pdf_url":null,"source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f449c3af8e2241249fac2c4f563a730b","is_oa":true,"landing_page_url":"https://doaj.org/article/f449c3af8e2241249fac2c4f563a730b","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry, Vol 16, Iss 12, p 1575 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/sym16121575","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16121575","pdf_url":null,"source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W840991145","https://openalex.org/W2062588526","https://openalex.org/W2153344813","https://openalex.org/W2386822698","https://openalex.org/W2568552194","https://openalex.org/W2581860236","https://openalex.org/W2779392991","https://openalex.org/W2795706382","https://openalex.org/W2906849171","https://openalex.org/W2907619374","https://openalex.org/W2944972447","https://openalex.org/W2966893381","https://openalex.org/W2971013793","https://openalex.org/W2971969325","https://openalex.org/W3048240987","https://openalex.org/W3084029647","https://openalex.org/W3090545487","https://openalex.org/W3096775261","https://openalex.org/W3097097964","https://openalex.org/W3111446176","https://openalex.org/W3124311409","https://openalex.org/W3176740057","https://openalex.org/W3200135131","https://openalex.org/W4214809012","https://openalex.org/W4224279299","https://openalex.org/W4226021964","https://openalex.org/W4246518174","https://openalex.org/W4312781921","https://openalex.org/W4313028595","https://openalex.org/W4323338621","https://openalex.org/W4323793227","https://openalex.org/W4362561419","https://openalex.org/W4368406931","https://openalex.org/W4372204152","https://openalex.org/W4386975643","https://openalex.org/W4387831823","https://openalex.org/W4389685124","https://openalex.org/W4400407426","https://openalex.org/W4400660594","https://openalex.org/W4403139669","https://openalex.org/W6623310637","https://openalex.org/W6848004423","https://openalex.org/W6856637143","https://openalex.org/W7043268366"],"related_works":["https://openalex.org/W2350540056","https://openalex.org/W2016796032","https://openalex.org/W2917116647","https://openalex.org/W2965424446","https://openalex.org/W2347085891","https://openalex.org/W1994838657","https://openalex.org/W2971578359","https://openalex.org/W2099333796","https://openalex.org/W4304471818","https://openalex.org/W2027070201"],"abstract_inverted_index":{"Coastal":[0],"water":[1],"accidents":[2],"have":[3],"occurred":[4],"frequently":[5],"in":[6,44,99,117],"recent":[7],"years,":[8],"and":[9,30,65,70,90,95,109,197],"human":[10],"factors":[11],"are":[12,97],"still":[13],"the":[14,34,50,56,100,106,112,115,138,144,150,162,184,201,212,215],"main":[15],"cause":[16],"of":[17,22,37,114,137,200,214],"these":[18],"accidents.":[19],"The":[20,187],"purpose":[21],"this":[23,191],"study":[24],"is":[25,84,129,134,146,152,181],"to":[26,54,86,205,210],"provide":[27],"a":[28,60,78,126,173],"better":[29],"safer":[31],"solution":[32],"for":[33],"symmetry":[35,51,69,113,167,213],"problem":[36,52],"unmanned":[38,175],"surface":[39,176],"vessels":[40],"during":[41,63,168],"automatic":[42,48,216],"berthing":[43,217],"coastal":[45],"waters.":[46],"In":[47,131,170],"berthing,":[49],"refers":[53],"whether":[55],"USVs":[57,154],"can":[58,104,155,194],"maintain":[59,211],"stable":[61],"state":[62,91],"motion":[64,218],"positioning,":[66],"including":[67],"dynamic":[68,127],"environmental":[71],"symmetry.":[72],"A":[73],"finite-time":[74],"controller":[75],"based":[76,124,160],"on":[77,125,161],"global":[79],"nonsingular":[80],"terminal":[81],"sliding":[82],"mode":[83],"designed":[85],"improve":[87],"response":[88,199],"speed":[89],"consistency.":[92],"Dynamic":[93],"uncertainty":[94],"disturbance":[96],"considered":[98],"design":[101],"process,":[102],"which":[103,208],"optimize":[105],"control":[107,158,192],"law":[108],"effectively":[110],"ensure":[111,195],"vessel":[116,177,202],"different":[118,220],"states.":[119],"Then,":[120],"an":[121],"event-triggering":[122],"mechanism":[123,141],"threshold":[128,151],"adopted.":[130],"practice,":[132],"there":[133],"excessive":[135],"operation":[136],"actuator.":[139],"This":[140],"ensures":[142],"that":[143,190],"actuator":[145],"triggered":[147],"only":[148],"when":[149,203],"reached.":[153],"adaptively":[156],"adjust":[157],"strategies":[159],"real-time":[163],"status,":[164],"thereby":[165],"improving":[166],"berthing.":[169],"simulation":[171],"analysis,":[172],"pod-driven":[174],"with":[178],"good":[179],"maneuverability":[180],"taken":[182],"as":[183],"research":[185],"object.":[186],"results":[188],"indicate":[189],"strategy":[193],"rapid":[196],"consistent":[198],"subjected":[204],"external":[206],"disturbances,":[207],"helps":[209],"under":[219],"conditions.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}
